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TRANSCRIPT
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Shanghai Slamtec.Co.,Ltd
RPLIDAR A1 Low Cost 360 Degree Laser Range Scanner
Introduction and Datasheet Model: A1M8
2018-0
3-2
3 rev.1
.1
CONTENTS ................................................................................................................................................... 1
INTRODUCTION ......................................................................................................................................... 3
SYSTEM CONNECTION ........................................................................................................................................ 3
MECHANISM ....................................................................................................................................................... 4
SAFETY AND SCOPE ............................................................................................................................................ 5
DATA OUTPUT .................................................................................................................................................... 5
APPLICATION SCENARIOS ................................................................................................................................... 6
SPECIFICATION ........................................................................................................................................... 7
MEASUREMENT PERFORMANCE ......................................................................................................................... 7
LASER POWER SPECIFICATION ............................................................................................................................ 8
COMMUNICATION INTERFACE ............................................................................................................................ 8
POWER SUPPLY AND CONSUMPTION .............................................................................................................. 10
MISC ................................................................................................................................................................ 10
SELF-PROTECTION AND STATUS DETECTION ................................................................................. 12
SDK AND SUPPORT ................................................................................................................................. 13
MECHANICAL AND CUSTOMIZATION OPTIONS ............................................................................ 14
REVISION HISTORY ................................................................................................................................. 15
APPENDIX .................................................................................................................................................. 16
IMAGE AND TABLE INDEX ................................................................................................................................. 16
Contents
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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
RPLIDAR A1 is a low cost 360 degree 2D laser scanner (LIDAR) solution developed
by SLAMTEC. The system can perform 360degree scan within 12 meter range. The
produced 2D point cloud data can be used in mapping, localization and
object/environment modeling.
RPLIDAR A1’s scanning frequency reached 5.5 hz when sampling 360 points each
round. And it can be configured up to 10 hz maximum.
RPLIDAR A1 is basically a laser triangulation measurement system. It can work
excellent in all kinds of indoor environment and outdoor environment without
sunlight.
System connection
RPLIDAR A1 contains a range scanner system and a motor system. After power on
each sub-system, RPLIDAR A1 start rotating and scanning clockwise. User can get
range scan data through the communication interface (Serial port/USB).
Figure 1-1 RPLIDAR A1 System Composition
RPLIDAR A1 comes with a speed detection and adaptive system. The system will
adjust frequency of laser scanner automatically according to motor speed. And
host system can get RPLIDAR A1’s real speed through communication interface.
Introduction
Range Scanner
System
Motor system
Fix platform
(customizable)
(clockwise rotation) Motor System
power supply 5-10V
Digital System
power supply 5V
Communication
Interface:
UART/USB
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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
The simple power supply schema saves LIDAR system’s BOM cost and makes
RPLIDAR A1 much easier to use. Detailed specification about power and
communication interface can be found in the following sections.
Mechanism
RPLIDAR is based on laser triangulation ranging principle and uses high-speed
vision acquisition and processing hardware developed by SLAMTEC. The system
measures distance data in up to 8000 times’ per second and with high resolution
distance output (<1% of the distance).
RPLIDAR emits modulated infrared laser signal and the laser signal is then
reflected by the object to be detected. The returning signal is sampled by vision
acquisition system in RPLIDAR A1 and the DSP embedded in RPLIDAR A1 start
processing the sample data and output distance value and angle value between
object and RPLIDAR A1 through communication interface.
Figure 1-2 The RPLIDAR A1 Working Schematic
The high-speed ranging scanner system is mounted on a spinning rotator with a
build-in angular encoding system. During rotating, a 360 degree scan of the
current environment will be performed.
𝐝
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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
Figure 1-3 The Obtained Environment Map from RPLIDAR A1 Scanning
Safety and Scope
RPLIDAR A1 system use a low power (<5mW) infrared laser as its light source, and
drives it using modulated pulse. The laser emits in a very short time frame which
can make sure its safety to human and pet and reach Class I laser safety standard.
The modulated laser can effectively prevent ambient light and sunlight during
ranging scanning process. This make RPLIDAR A1 work excellent in all kinds of
indoor environment and outdoor environment without sunlight.
Data Output
When RPLIDAR A1 is working, sampling data will output to communication
interface. Each sample point contains below information. RPLIDAR A1 outputs
*Note:The LIDAR scan image is not directly
relative to the environment showed here.
Illustrative purpose only.
Class I
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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
sampling data continuously. Host systems can configure output format and stop
RPLIDAR A1 by sending stop command. If you need detailed data format and
communication protocol, please contact with SLAMTEC.
Figure 1-4 The RPLIDAR A1 Sample Point Data Information
Figure 1-5 The RPLIDAR A1 Sample Point Data Frames
Application Scenarios
The RPLIDAR A1 can be used in the following application scenarios:
o Home service /cleaning robot navigation and localization
o General robot navigation and localization
o Smart toy’s localization and obstacle avoidance
o Environment scanning and 3D re-modeling
o General simultaneous localization and mapping (SLAM)
Data Type Unit Description
Distance mm Current measured distance value between the rotating
core of the RPLIDAR A1 and the sampling point
Heading degree Current heading angle of the measurement
Quality level Quality of the measurement
Start Flag (Boolean) Flag of a new scan
… (dሾn − 1ሿ, θሾn − 1ሿ) (dሾnሿ, θሾnሿ) (dሾ0ሿ, θሾ0ሿ) (dሾ1ሿ, θሾ1ሿ)
…
Start Flag
A new scan
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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
Measurement Performance
o For Model A1M8 Only
Figure 2-1 RPLIDAR A1 Performance
Note: the triangulation range system resolution changes along with distance, and
the theoretical resolution change of RPLIDAR A1 is shown as below:
Figure 2-2 The Trend Graph of RPLIDAR A1 Resolution
0.00%
0.02%
0.04%
0.06%
0.08%
0.10%
0.12%
0.14%
0.16%
0.18%
0.20%
0
2
4
6
8
10
12
10
29
0
57
0
85
0
11
30
14
10
16
90
19
70
22
50
25
30
28
10
30
90
33
70
36
50
39
30
42
10
44
90
47
70
50
50
53
30
56
10
58
90
Resoultion
Precent
Specification
Item Unit Min Typical Max Comments
Distance
Range Meter(m) TBD 0.15 - 12 TBD
White objects
Angular
Range Degree n/a 0-360 n/a
Distance
Resolution mm n/a
<0.5 n/a
<1.5 meters
<1% of the distance All distance range*
Angular
Resolution Degree n/a ≤1 n/a
5.5Hz scan rate
Sample
Duration
Millisecond(ms
) n/a 0.5 n/a
Sample
Frequency Hz n/a 4000 8000
Scan Rate Hz 1 5.5 10
Typical value is
measured when
RPLIDAR A1 takes 360
samples per scan
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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
Laser Power Specification
o For Model A1M8 Only
Figure 2-3 RPLIDAR A1 Optical Specification
Communication interface
RPLIDAR A1 uses 3.3V-TTL serial port (UART) as the communication interface.
Other communication interface such as USB can be customized according to
customer’s requirement. The table below described specification for serial port
interface. Please contact SLAMTEC if you want detailed communication protocol
and SDK.
Figure 2-4 RPLIDAR A1 Power Interface
Item Unit Min Typical Max Comments
Laser
wavelength Nanometer(nm)
775 785 795 Infrared Light
Band
Laser power Milliwatt (mW) TBD 3 5 Peak power
Pulse length Microsecond(us) TBD 110 300
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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
Figure 2-5 RPLIDAR External Interface Signal Definition
Note: the RX input signal of A1M8 is recognized by the current. In order to ensure
the reliable signal identification inside the system, the actual control node voltage
of this pin will not be lower than 1.6v.
Figure 2-6 RPLIDAR A1 External Interface Specifications
Note: for the motor interface and core interface of batch version, they use the
PH1.25-3P horizontal pitch connector and PH1.25-4P vertical pitch connector
respectively. Please refer to the mechanical dimensions in Chapter 5 for details of
signals and their matched pins. But the RPLIDAR development kit uses the PH2.54-
7P pitch connector. Please refer to RPLIDAR Development Kit User Manual for
detailed specifications.
Item Unit Min Typical Max Comments
Band rate bps - 115200 -
Working mode - - 8N1 - 8n1
Output high voltage Volt (V) 2.9 - 3.5 Logic High
Output low voltage Volt (V) - - 0.4 Logic Low
Input high voltage Volt (V) 1.6* - 3.5 Logic High
Input low voltage Volt (V) -0.3 - 0.4 Logic Low
Interface Signal
Name Type Description Min Typical Max
Motor
Interface
VMOTO Power Power for RPLIDAR A1 Motor - 5V 9V
MOTOCTL Input
Enable signal for RPLIDAR A1
Motor/PWM
Control Signal
0V - VMOTO
GND Power GND for RPLIDAR A1 Motor - 0V -
Core
Interface
VCC_5 Power Power for RPLIDAR A1 Range
Scanner Core 4.9V 5V 5.5V
TX Output Serial output for Range Scanner
Core 0V - 5V
RX Input Serial input for Range Scanner
Core 0V - 5V
GND Power GND for RPLIDAR A1 Range
Scanner Core - 0V V5.0
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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
Power Supply and Consumption
Ranging scanner system and motor system are powered separately in RPLIDAR
A1. External system should provide power supply for them separately in order to
ensure data accuracy. Below chart showed a recommended power mode. More
specification is provided in the following table.
Figure 2-7 RPLIDAR A1 Power Recommended Power Mode
Figure 2-8 RPLIDAR A1 Power Supply Specification
MISC
o For Model A2M3/A2M4 Only
Item Unit Min Typical Max Comments
Scanner system
voltage Volt (V) 4.9 5 5.5
If the voltage exceeds the
max value, it may damage
the core.
Scanner system
voltage ripple Millivolt(mV) 20 50
High ripple may cause the
core working failure.
Scanner system start
current
Milliampere
(mA) TBD 500 600
Underpower may cause
the startup failure.
Scanner system
current
Milliampere
(mA)
TBD 80 100 Sleep mode, 5V input
TBD 300 350 Work mode, 5V input
Motor system voltage Volt (V) 5 5 10 Adjust voltage according
to speed
Motor system current Milliampere
(mA) TBD 100 TBD 5V input
Scanner
System
Motor System
RPLID
AR
4.9V-5.5V DC, low ripple <1%
5V-10V DC, high current
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Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
Figure 2-9 RPLIDAR A1 MISC Specification
Item Unit Min Typical Max Comments
Weight Gram (g) TBD 190 TBD
Temperature range Degree Celsius (oC) 0 TBD 45
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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
To make sure RPLIDAR A1’s laser always working in the safety range (<5mW) and
avoid any other damage caused by device, RPLIDAR A1 comes with laser power
detection and sensor healthy check feature. RPLIDAR A1 will shut down the laser
and stop working when any of below errors has been detected.
o Laser transmit power exceeds limited value
o Laser cannot power on normally
o Scan speed of Laser scanner system is unstable
o Scan speed of Laser scanner system is too slow
o Laser signal sensor works abnormally
Host systems can inquiry the RPLIDAR A1’s status through communication
interface and restart RPLIDAR A1 to try to recovery from error.
Self-protection and Status Detection
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Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
SLAMTEC provides debug GUI tool and SDK (available for Windows, x86 Linux and
Arm Linux) to speed up the product development for users. Please contact
SLAMTEC for detail information.
Figure 4-1 the Debugging GUI of RPLIDAR A1
SDK and Support
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Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
To facility customer’s integration, RPLIDAR A1’s structure is designed to decouple
the core ranging system and fixed platform which can be customized. The part
marked red in the below figure is the fixed platform that can be customized
according to customer requirement.
Figure 5-1 The fixd platform of RPLIDAR A1
The RPLIDAR A1-A1M8 assemble size showed below:
Figure 5-2 The Mechanical Dimensions of RPLIDAR A1
GH1.25mm-4pin horizontal pitch connector(Male)
Mechanical and Customization Options
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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
Date Description
2013-3-13 Initial draft
2013-5-16
1. Updated the laser class information
2. Updated motor voltage range
3. Updated size chart according to Rev1.5 sample design
2013-8-9 Updated power consumption
2013-11-23 Updated product specification
2013-12-29 Updated product specification
2014-2-9 Added model name: A1M1
2014-4-17 Added weight and temperature range description
2014-5-6 Changed the measurement distance range based on the new design
2015-6-3 Update Mechanical parameter figure.
Modify model name to A1M3
2016-3-29 Update Mechanical parameter figure.
Modify model name to A1M8
2016-04-25 Added startup current requirement of A1M8 and corrected some
parameter errors
2016-04-28 Added connection information for batch version
2016-05-19 Replaced obsolete images.
2016-07-04 Updated the description about RX input signal and added a note
about it.
2017-11-22 Corrected the pin P4 maximum value from 6V to 5.5V in Figure 3-1.
2018-03-23
Updated the version number to v1.1;
Updated the scan range from 6m to 12m and the sample frequency
from 2000-2010 to 4k-8k.
Revision History
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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
Image and Table Index
FIGURE 1-1 RPLIDAR A1 SYSTEM COMPOSITION ............................................................................................... 3
FIGURE 1-2 THE RPLIDAR A1 WORKING SCHEMATIC ......................................................................................... 4
FIGURE 1-3 THE OBTAINED ENVIRONMENT MAP FROM RPLIDAR A1 SCANNING ............................................. 5
FIGURE 1-4 THE RPLIDAR A1 SAMPLE POINT DATA INFORMATION .................................................................. 6
FIGURE 1-5 THE RPLIDAR A1 SAMPLE POINT DATA FRAMES ............................................................................. 6
FIGURE 2-1 RPLIDAR A1 PERFORMANCE ............................................................................................................ 7
FIGURE 2-2 THE TREND GRAPH OF RPLIDAR A1 RESOLUTION........................................................................... 7
FIGURE 2-3 RPLIDAR A1 OPTICAL SPECIFICATION .............................................................................................. 8
FIGURE 2-4 RPLIDAR A1 POWER INTERFACE ...................................................................................................... 8
FIGURE 2-5 RPLIDAR EXTERNAL INTERFACE SIGNAL DEFINITION ....................................................................... 9
FIGURE 2-6 RPLIDAR A1 EXTERNAL INTERFACE SPECIFICATIONS ....................................................................... 9
FIGURE 2-7 RPLIDAR A1 POWER RECOMMENDED POWER MODE ................................................................... 10
FIGURE 2-8 RPLIDAR A1 POWER SUPPLY SPECIFICATION................................................................................. 10
FIGURE 2-9 RPLIDAR A1 MISC SPECIFICATION ................................................................................................ 11
FIGURE 4-1 THE DEBUGGING GUI OF RPLIDAR A1 ........................................................................................... 13
FIGURE 5-1 THE FIXD PLATFORM OF RPLIDAR A1 ............................................................................................. 14
FIGURE 5-2 THE MECHANICAL DIMENSIONS OF RPLIDAR A1 .......................................................................... 14
Appendix